Siko MSA501, User Manual

Page: 27 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 27 of 51
5.6.2.4 1003h: Pre-defined Error Field
In object 1003h, the 8 latest error states are archived (see chapter 5.5.1: Emergency Service
(EMCY) ).

the entry under sub-index 0 indicates the number of errors saved.

The latest error state is always stored in sub-index 01h. Previous error messages “slip
onwards” in their position by one sub-index.

The whole error list is deleted by writing the value 0 in sub-index 00h.

The entries in the error list have the format described in chapter 5.5.1: Emergency Service
(EMCY) .
Subindex 00h
Description number of error messages stored
Access rw
PDO-Mapping no
Data type UNSIGNED 8
Default 0h
EEPROM yes
Subindex 01h-08h
Description error messages that occurred
Access ro
PDO-Mapping no
Data type UNSIGNED 32
Default 0h
EEPROM yes
5.6.2.5 1005h: COB-ID SYNC-Nachricht
Durch das Objekt 1005h wird die COB-ID des SYNC-Objekts eingestellt.
Subindex 00h
Description Defines the COB ID of the synchronization object (SYNC)
Access rw (writable in the “Pre-Operational” state only see chapter 5.1)
PDO-Mapping no
Data type UNSIGNED 32
Default 80h
EEPROM yes
Data content Bit 31 not defined
Bit 30 0: The device generates no SYNC message
Bit 29 0: 11Bit-Identifier (CAN 2.0A)
1: 29Bit-Identifier (CAN 2.0B)
Bit 28 … 11 0: falls Bit 29 = 0
X: Bits 28 – 11 des SYNC-COB-ID, falls Bit 29 = 1
Bit 10 … 0 X: Bits 10 – 0 des SYNC-COB-ID